Pose Control of Robotic Fish based on tangent circle

In order to improve the efficiency of the fish to head the ball, put forward a new method of Pose Control of Robotic Fish based on tangent circle. Through the tangential circle and the direction of the ultimate goal to adjust the direction of the fish and find the location of the target point, solve the motor´s jitter and instability problems while changing the direction, make the robot fish adjust the position and orientation quickly and accurately, reach the specified angle and location of attack. At the same time, used fuzzy control to control the direction of the robotic fish accurately, better participated in attack, for achieving fast and accurate the result of heading the ball. Experiments confirmed the effectiveness and feasibility of this method.